使用三维栅格地图的移动机器人路径规划  

An Algorithm for Mobile Robot Path Planning Based on 3D Grid Map

作　　者：张彪[1] 曹其新[1,2] 王雯珊[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《西安交通大学学报》2013年第10期57-61,共5页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(61273331);国家高技术研究发展计划资助项目(2012AA041403);机械系统与振动国家重点实验室资助项目(MSV201101)

摘　　要：针对移动机器人使用三维地图进行路径规划的问题,研究了使用三维栅格地图的路径规划算法。该算法将装载三维激光扫描仪的移动机器人得到的三维点云转换成为八叉树结构的三维栅格地图;扩展了D*算法使之考虑机器人的尺寸,检测每种位姿状态下是否与环境发生碰撞,生成多条可行路径可以在栅格地图中直接生成机器人的运动轨迹,保证运动过程中机器人自身及物体的安全。实验结果表明:该算法不需要对地图具有先验认识,并且考虑了机器人的实际尺寸,具有较强的可靠性和实用性,已经在真实环境中进行了实验。A novel planning method is proposed by using a 3D grid map to tackle the path planning problem for mobile robots with 3D grid map.The 3D grid map is obtained through transforming the point cloud collected by mobile robot equipped with 3D LRF into an octree structured data.A D＊ algorithm is also developed to take mobile robot size into consideration,so that different paths can be generated and collisions of mobile robot and environment will be avoided.The 3D trajectory of the mobile robot can be generated from the algorithm directly,hence,the safety of mobile robot itself and the objects is ensured when robot moves around.Experimental results show that the proposed algorithm does not require a priori understanding to the map and takes the real size of robots into consideration.The method has been applied to practical applications in real environments,and shows strong reliability and practicality.

关 键 词：路径规划 三维栅格地图 移动机器人 三维点云 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]